
#include <gtest/gtest.h>
#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"

#include "Bullet3OpenCL/RigidBody/kernels/jointSolver.h"

extern int gArgc;
extern char** gArgv;

namespace
{
	struct testCompileBullet3PgsJointSolverKernels : public ::testing::Test 
	{
		cl_context			m_clContext;
		cl_device_id		m_clDevice;
		cl_command_queue	m_clQueue;
		char*				m_clDeviceName;
		cl_platform_id		m_platformId;

		testCompileBullet3PgsJointSolverKernels()
			:m_clDeviceName(0),
			m_clContext(0),
			m_clDevice(0),
			m_clQueue(0),
			m_platformId(0)
		{
				// You can do set-up work for each test here.
			b3CommandLineArgs args(gArgc,gArgv);
			int preferredDeviceIndex=-1;
			int preferredPlatformIndex = -1;
			bool allowCpuOpenCL = false;


			initCL();
		}

		virtual ~testCompileBullet3PgsJointSolverKernels() 
		{
			// You can do clean-up work that doesn't throw exceptions here.
			exitCL();
		}

		// If the constructor and destructor are not enough for setting up
		// and cleaning up each test, you can define the following methods:

		#include "initCL.h"

		virtual void SetUp() 
		{


			// Code here will be called immediately after the constructor (right
			// before each test).
		}

		virtual void TearDown() 
		{
			// Code here will be called immediately after each test (right
			// before the destructor).
		}
	};

	TEST_F(testCompileBullet3PgsJointSolverKernels,solveConstraintRowsCL)
	{
		cl_int errNum=0;

		cl_program prog = b3OpenCLUtils::compileCLProgramFromString(m_clContext,m_clDevice,solveConstraintRowsCL,&errNum,"",0,true);
		ASSERT_EQ(errNum,CL_SUCCESS);
				
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext, m_clDevice,solveConstraintRowsCL, "solveJointConstraintRows",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"initSolverBodies",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"getInfo1Kernel",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"initBatchConstraintsKernel",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		{
			cl_kernel k= b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"getInfo2Kernel",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"writeBackVelocitiesKernel",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}
		{
			cl_kernel k = b3OpenCLUtils::compileCLKernelFromString(m_clContext,m_clDevice,solveConstraintRowsCL,"breakViolatedConstraintsKernel",&errNum,prog);
			ASSERT_EQ(errNum,CL_SUCCESS);
			ASSERT_FALSE(k==0);
			clReleaseKernel(k);
		}

		
		

		clReleaseProgram(prog);
	
	}	
};
